CN109396700A - It creeps welding robot and its control method - Google Patents
It creeps welding robot and its control method Download PDFInfo
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- CN109396700A CN109396700A CN201811496503.7A CN201811496503A CN109396700A CN 109396700 A CN109396700 A CN 109396700A CN 201811496503 A CN201811496503 A CN 201811496503A CN 109396700 A CN109396700 A CN 109396700A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
- B23K9/327—Means for transporting supplies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0264—Carriages for supporting the welding or cutting element magnetically attached to the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0241—Attachments between the welding or cutting element and the carriage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/08—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for flash removal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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Abstract
The present invention relates to welder technical field, creep welding robot more particularly, to one kind.It include adjustable magnetic suck module, wheel cover formula walking mechanism, creep locomotive frame and weld load device, weld load device setting is creeping on locomotive frame；Wheel covers the opposite end that locomotive frame of creeping is arranged in formula walking mechanism, for providing power of creeping to locomotive frame of creeping；Adjustable magnetic suck module setting is being creeped on locomotive frame, and setting is covered between formula walking mechanism in two wheels.The present invention covers formula walking mechanism by wheel, it realizes rail-free, creep without guiding, it can be in large and medium-sized plane or cambered surface welding structural element apparent motion, wall can vertically be climbed, it can be carried out weld job in the movement of forward or backward, the all-position welding for realizing large and medium-sized structural member can obviously reduce welding non-cutting time, high production efficiency；Magnetic adsorbability size is adjusted by adjustable magnetic suck module, it can be achieved that plate and deep camber arc plate are creeped, and working environment adaptability is high.
Description
Technical field
The present invention relates to welder technical field, creep welding robot and its control method more particularly, to one kind.
Background technique
In metal structure welding field, to the large and medium-sized plane such as steel storage tank, spherical tank, pipeline, hull or cambered surface equipment into
When row weld job, usually using based on handwork, large labor intensity and working environment is severe needs several workers to cooperate with
It completes, it is higher to the skill requirement of Welder, while the welding quality affected by many factors that will lead to not can guarantee, productivity is low
Under.Now with the continuous development of welding technique and Industrial Robot Technology, welding robot currently on the market is mostly joint
Formula, radius of action not can effectively solve the Welding Problems of large and medium-sized structural member less than 2 meters.In order to can solve large and medium-sized structure
Welding demand under the extreme cases such as part welding workload continues to increase, production environment is severe and ensure welding quality, therefore
Creeping-type welding robot is more and more applied.
It can not be to the large and medium-sized plane such as steel storage tank, spherical tank and hull or globoidal structure for prior art weld robot
Part carries out weld job, and when manually carrying out large and medium-sized structural member plane or cambered surface weld job, large labor intensity and building ring
Border is severe, needs several workers to cooperate with and completes, higher to the skill requirement of Welder, while affected by many factors will lead to weldering
Connecing quality not can guarantee, and productivity is low.
Summary of the invention
It creeps welding robot and its control method the purpose of the present invention is to provide one kind, to solve to deposit in the prior art
The technical issues of.
Welding robot provided by the invention of creeping, including adjustable magnetic suck module, wheel cover formula walking mechanism, creeper
Vehicle frame and weld load device, the weld load device setting are creeped on locomotive frame described；
The wheel covers the opposite end that the locomotive frame of creeping is arranged in formula walking mechanism, for the locomotive frame of creeping
Offer is creeped power；
The adjustable magnetic suck module setting is creeped on locomotive frame described, and is arranged and is covered formula walking in two wheels
Between mechanism.
Further, it includes magnetic support, roller chain, driving wheel, driven wheel and the first driving machine that the wheel, which covers formula walking mechanism,
Structure；
First driving mechanism is fixed at described creep on locomotive frame；
The driving wheel and the driven wheel are rotatably arranged on described creep on locomotive frame；
The driving wheel and the driven wheel pass through the roller chain link；
The magnetic support is arranged on the roller chain.
Further, sliding groove is provided on the locomotive frame of creeping；
The driven wheel is slidably arranged in the sliding groove；
The second driving mechanism is provided on the side wall of the sliding groove, for driving the driven wheel in the sliding groove
It is mobile, realize the tensioning of the roller chain.
Further, first driving mechanism includes servo motor and corner decelerating motor, the servo motor and institute
The connection of corner decelerating motor is stated, the servo motor and the corner decelerating motor are each attached to and creep on locomotive frame, the master
Driving wheel is fixed on the flange of the corner decelerating motor, is able to drive the driving wheel by the servo motor and is rotated.
Further, the weld load device includes weld holder and welding gun flat pendulum mechanism；
The weld holder is fixed at described creep on locomotive frame；
The welding flat pendulum mechanism includes first straight line motor, first straight line guide rail, third driving device, the first driving cog
Wheel and the first driving rack；
The first straight line motor is fixed on the weld holder, the first straight line guide rail and the first straight line
Motor connection；First transmission gear is rotatably arranged on the first straight line guide rail；First transmission gear with it is described
The engagement of first driving rack；The third driving device is connect with first transmission gear.
Further, the weld load device further includes welding gun angle swing clamping device；
The welding gun angle swing clamping device includes angle swing device, retaining mechanism and clip；
The angle swing device and the clamp connection, for driving the torch swinging being arranged on the clip；
The retaining mechanism setting is fixedly connected on the angle swing device, and with first driving rack.
Further, the weld load device further includes laser tracking flat pendulum mechanism and laser tracking module；
The laser tracking flat pendulum mechanism includes second straight line motor, second straight line guide rail, fourth drive device, the second biography
Moving gear and the second driving rack；
The second straight line motor is fixed on the weld holder, the second straight line guide rail and the second straight line
Motor connection；Second transmission gear is rotatably arranged in the second linear guide；Second transmission gear with it is described
The engagement of second driving rack；The fourth drive device is connect with second transmission gear；
The laser tracking module includes camera, laser sensor, mounting rack and more optical filters；
The camera, the laser sensor and more optical filters are arranged on the mounting rack；
The mounting rack is fixed on second driving rack.
Further, wind-proof device is additionally provided on the weld holder；
The wind-proof device includes fixed bracket and windproof cover, and described support bracket fastened one end and the weld holder connect
It connects, the other end is connect with the windproof cover；
The fixed bracket includes flexible translation plates, offers left and right directions slideway and front and back in the flexible translation plates
To slideway, up and down direction slideway is offered on the radix saposhnikoviae cover, so that the radix saposhnikoviae cover can be adjusted in three directions,
It is fixed after adjustment.
Further, the adjustable magnetic suck module includes magnetic body module and lift adjustment module, the lift adjustment
Module is connect with the magnetic body module, for controlling the magnetic body module lifting；
The lift adjustment module have it is multiple can independent control elevating mechanism, by adjusting multiple independent controls respectively
The elevating mechanism, change the magnetic body module and the angle being adsorbed between surface and/or gap.
The present invention also provides a kind of control methods of welding robot of creeping comprising following steps:
S1. adjustable magnetic suck module is controlled, makes to creep welding robot and the adsorption capacity that is adsorbed between surface keeps steady
It is fixed；
S2. weld information is obtained；
S3. the translation of control welding gun reaches position while welding；
S4. control welding gun rotation, reaches process requirements angle；
S5. the technological parameter of the source of welding current is adjusted；
S6. starting welding, control climbing robot are independently creeped along weld seam trend automatically；
S7. welding is completed.
Creep welding robot and its control method provided by the invention cover formula walking mechanism by wheel, realize and be not necessarily to rail
Road is creeped without guiding, and solderable range is big, can be in large and medium-sized plane or cambered surface welding structural element apparent motion, can be vertical
Wall is climbed, can be carried out weld job in the movement of forward or backward, and then realize the all-position welding of large and medium-sized structural member, it can
Significantly reduce welding non-cutting time, high production efficiency；Adjust magnetic adsorbability size by adjustable magnetic suck module, it can be achieved that
Plate and deep camber arc plate are creeped, and working environment adaptability is high.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic perspective view of welding robot provided in an embodiment of the present invention of creeping；
Fig. 2 is the explosive view of welding robot provided in an embodiment of the present invention of creeping；
Fig. 3 is that the locomotive frame of creeping of welding robot provided in an embodiment of the present invention of creeping covers the side of formula walking mechanism with wheel
View；
Fig. 4 is that creep locomotive frame and the wheel of welding robot provided in an embodiment of the present invention of creeping cover the vertical of formula walking mechanism
Body structural schematic diagram；
Fig. 5 is the bottom view of welding robot provided in an embodiment of the present invention of creeping；
Fig. 6 is that the welding flat pendulum mechanism of welding robot provided in an embodiment of the present invention of creeping and laser track flat pendulum mechanism
Structural schematic diagram；
Fig. 7 is the structural schematic diagram of the laser tracking module of welding robot provided in an embodiment of the present invention of creeping；
Fig. 8 is the structural representation of the welding gun angle swing clamping device of welding robot provided in an embodiment of the present invention of creeping
Figure；
Fig. 9 is the structural schematic diagram of the wind-proof device of welding robot provided in an embodiment of the present invention of creeping；
Figure 10 is the structural schematic diagram of the adjustable magnetic suck module of welding robot provided in an embodiment of the present invention of creeping；
Figure 11 is the control principle drawing of welding robot provided in an embodiment of the present invention of creeping.
Appended drawing reference:
1: locomotive frame of creeping；1-1: car body connecting plate；1-2: sliding groove；1-3: adjusting block；1-4: adjusting screw rod；1-5: side
Plate；
2: wheel covers formula walking mechanism；2-1: driving wheel；2-2: magnetic support；2-3: roller chain；2-4: driven wheel；2-5: corner subtracts
Speed motor；2-6: servo motor；
3: welding gun flat pendulum mechanism；3-1: first straight line motor；3-2: first straight line guide rail；3-3: the first driving rack；3-
4: third driving device；3-5: the first transmission gear；
4: laser tracks flat pendulum mechanism；4-1: second straight line motor；4-2: second straight line guide rail；4-3: the second driving cog
Item；4-4: the fourth drive device；4-5: the second transmission gear；
5: laser tracking module；5-1: mounting rack；5-2: more optical filters；5-3: laser sensor；5-4: camera；
6: welding gun angle swing clamping device；6-1: angle swing device；6-2: retaining mechanism；6-3: clip；
7: wind-proof device；7-1: windproof cover；7-2: up and down direction slideway；7-3: left and right directions slideway；7-4: flexible flat
Move plate；7-5: fixed bottom plate；7-6: mounting flange；7-7: loose flange；7-8: hinged sphere；7-9: main observation window；7-10: secondary
Observation window；7-11: front-rear direction slideway；7-12: ceiling molding；7-13: lower press strip；7-14: fixed connecting plate；
8: attitude transducer；
9: adjustable magnetic suck module；9-1: driving handle；9-2: connecting hole；9-3: cover board；9-4: groove body；9-5: support bottom
Plate；9-6: lifting screw；9-7: mounting ear；9-8: rotation axis；9-9: cavity；9-10: chamber lid；
10: weld holder.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase
To importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As shown in attached drawing 1- Figure 10, creep welding robot, including adjustable magnetic suck module the present invention provides one kind
9, wheel cover formula walking mechanism 2, creep locomotive frame 1 and weld load device, weld load device setting is creeping on locomotive frame 1；
Wheel covers the opposite end that locomotive frame 1 of creeping is arranged in formula walking mechanism 2, for providing power of creeping to locomotive frame 1 of creeping；It is adjustable
The setting of formula magnetic suck module 9 is being creeped on locomotive frame 1, and setting is covered between formula walking mechanism 2 in two wheels.
In the present embodiment, covering formula walking mechanism 2 by wheel drives welding robot mobile, does not need track, and walk
Steadily, it ensure that the power of creeping of welding robot；By adjustable adsorption module, adjusted to the magnetic force for being adsorbed surface
Section, so as to reach optimal magnetic force, it is not too big or too small, different curved surfaces can be suitable for.
Specifically, in the present embodiment, wheel cover formula walking mechanism 2 include magnetic support 2-2, roller chain 2-3, driving wheel 2-1, from
Driving wheel 2-4 and the first driving mechanism；First driving mechanism, which is fixed at, creeps on locomotive frame 1；Driving wheel 2-1 and driven wheel 2-
4 are rotatably arranged on and creep on locomotive frame 1；Driving wheel 2-1 is connected with driven wheel 2-4 by roller chain 2-3；Magnetic support 2-2 setting
On roller chain 2-3.
More specifically, in the present embodiment, locomotive frame 1 of creeping includes car body connecting plate 1-1 and side plate 1-5, the first driving
Mechanism is fixed at the lower section of car body connecting plate 1-1, and driving wheel 2-1 and driven wheel 2-4 are rotatably arranged on side plate 1-5,
Driving wheel 2-1 drives driven wheel 2-4 rotation by roller chain 2-3, and roller chain 2-3 is two disposed in parallel, magnetic support 2-2 and rolling
Lengthening pin shaft on subchain 2-3 is rigidly connected.
Welding robot creep when advancing, roller chain 2-3 drags magnetic support 2-2 movement, the head end magnetic support 2-2 of direction of advance
Enter adsorption structure part state from detaching structure part state, the end magnetic support 2-2 of direction of advance is from adsorption structure part at the same time
State enters detaching structure part state, and entire wheel, which covers formula walking mechanism 2, during this can maintain total adsorption capacity size constant, therefore
Welding robot of creeping, which reliably can be smoothly adsorbed on structural member, to be moved.
Welding robot creep when retreating, roller chain 2-3 drags magnetic support 2-2 movement, the head end magnetic support 2-2 of direction of retreat
Enter adsorption structure part state from detaching structure part state, the end magnetic support 2-2 of direction of retreat is from adsorption structure part at the same time
State enters detaching structure part state, and entire wheel, which covers formula walking mechanism 2, during this can maintain total adsorption capacity size constant, therefore
Welding robot of creeping, which reliably can be smoothly adsorbed on structural member, to be moved.
In the present embodiment, the first driving mechanism is two, respectively drives two driving wheel 2-1, and then can be realized wheel
The left and right sides revolving speed for covering formula walking mechanism 2 is different, and then using differential far from the turning function for realizing welding robot of creeping.
Further, the more steady of the walking of formula walking mechanism 2, driving wheel 2-1 and the outside driven wheel 2-4 are covered to guarantee to take turns
It is equipped with traveling wheel, driving wheel 2-1 is fixed in first driving device.
Offset is generated when in the present embodiment, to prevent crawler haulage, car body is equipped with crawler belt guiding device, magnetic support 2-2
On guide pad is installed, when car body advances, guide pad is caught in guide groove when crawler haulage is run.
In the present embodiment, the first driving mechanism includes servo motor 2-6 and corner decelerating motor 2-5, servo motor 2-6
It is connect with corner decelerating motor 2-5, servo motor 2-6 and corner decelerating motor 2-5 are each attached to and creep on locomotive frame 1, actively
Wheel 2-1 is fixed on the flange of corner decelerating motor 2-5, is able to drive driving wheel 2-1 rotation by servo motor 2-6.
Specifically, corner decelerating motor 2-5 is rigidly fixed on car body connecting plate 1-1, servo motor 2-6 is subtracted by corner
Speed motor 2-5 drives driving wheel 2-1 rotation.
In the present embodiment, creep locomotive frame 1 side on be provided with sliding groove 1-2；Driven wheel 2-4 is slidably arranged in cunning
In dynamic slot 1-2；The second driving mechanism is provided on the side wall of sliding groove 1-2, for driving driven wheel 2-4 in sliding groove 1-2
It is mobile, realize the tensioning of roller chain 2-3.
Driven wheel 2-4 is driven to slide in sliding groove 1-2 by the second driving mechanism, so that driven wheel 2-4 and driving wheel
Spacing between 2-1 is adjustable, and then the tensioning to roller chain 2-3 can be realized as strainer.
Specifically, strainer includes adjusting block 1-3 and adjusting screw rod 1-4；Driven wheel 2-4 is rotatably arranged on adjusting block 1-
On 3, adjusting block 1-3 is slidably arranged in sliding groove 1-2, and one end of adjusting screw rod 1-4 and adjusting block 1-3 are rotatablely connected, and with
There is axially position between adjusting block 1-3, be provided with through-hole on the side wall of sliding groove 1-2, through-hole is threaded hole, adjusting screw rod 1-
4 connect with threaded hole, and are stretched out by threaded hole.When rotating adjusting screw rod 1-4, the cooperation of adjusting screw rod 1-4 and threaded hole,
So that adjusting screw rod 1-4 will do it axial movement, due to having axially position between adjusting block 1-3 and adjusting screw rod 1-4, so that
Adjusting block 1-3 can follow adjusting screw rod 1-4 to move axially together, and then realize the movement of driven wheel 2-4.
In the present embodiment, the set-up mode of adjusting screw rod 1-4 can also be that one end and adjusting block 1-3 carry out screw thread company
It connects, the other end is stretched out by the side wall of sliding groove 1-2, and adjusting screw rod 1-4 and sliding groove 1-2 is rotatablely connected, and it is axial fixed to have
Position.Such setting so that adjusting screw rod 1-4 rotate when, will not move axially, but due to adjusting block 1-3 screw thread
Connection, so that adjusting block 1-3 can be moved along the axis of adjusting screw rod 1-4, to reach the mesh for driving driven wheel 2-4 linear movement
's.
In the present embodiment, when mobile to the direction far from driving wheel 2-1 as driven wheel 2-4, tensioning function may be implemented,
When driven wheel 2-4 is to close to the movement of the direction of driving wheel 2-1, roller chain 2-3 can be loosened, and then be convenient for roller chain 2-3
Disassembly and installation.
Preferred embodiment is that weld load device includes weld holder 10 and welding gun flat pendulum mechanism 3；Weld holder 10 is fixed
Setting is being creeped on locomotive frame 1；Welding flat pendulum mechanism includes first straight line motor 3-1, first straight line guide rail 3-2, third driving
Device 3-4, the first transmission gear 3-5 and the first driving rack 3-3；First straight line motor 3-1 is fixed on weld holder 10,
First straight line guide rail 3-2 is connect with first straight line motor 3-1；First transmission gear 3-5 is rotatably arranged on first straight line guide rail 3-2
On；First transmission gear 3-5 is engaged with the first driving rack 3-3；Third driving device 3-4 is connect with the first transmission gear 3-5.
Specifically, that first straight line guide rail 3-2 can be driven to do on weld holder 10 is straight on the direction x by first straight line motor 3-1
Line movement, by the first transmission gear 3-5 being rotatably arranged on first straight line guide rail 3-2, and is slidably arranged in first straight line
The first driving rack 3-3 on guide rail 3-2 is able to drive the liter that the welding gun being arranged on the first driving rack 3-3 does the direction z
Drop, the direction x and the direction z are vertical, into the adjusting in the direction x and the direction z that can be realized Butt welding gun, are covering formula walking mechanism by wheel
The adjustment in the direction y of Butt welding gun is realized in 2 walking.
More specifically, the direction x is and is adsorbed that surface is parallel, and the direction of travel of formula walking mechanism 2, y are vertically covered with wheel
Direction is the direction of travel that wheel covers formula walking mechanism 2, and the direction z is the direction vertical with surface is adsorbed.
By the setting of welding gun flat pendulum mechanism 3, it can make to creep welding robot when welding, accurately find needs
The position of welding.
In the present embodiment, third driving device 3-4 is handle or turntable, by can be by manually adjusting realization welding gun
The adjusting of height.
It should be pointed out that third driving device 3-4 can also be motor, it is connected to motor by controller, Jin Ershi
The automatic adjustment of existing Butt welding gun height, or the long-range control to motor is realized using controller, and then realizes Butt welding gun height
Remote adjustment.
In order to make welding gun in welding, position according to it is accurate, and can adapt to various techniques, in the present embodiment
In, weld load device further includes that welding gun angle swing clamping device 6 by welding gun angle swing clamping device 6 can allow welding gun around the side y
To axis rotation, realize the adjustment of the soldering angle of welding gun.
Specifically, in the present embodiment, welding gun angle swing clamping device 6 includes angle swing device 6-1, retaining mechanism 6-2 and clip
6-3；Angle swing device 6-1 is connect with clip 6-3, for driving the torch swinging being arranged on clip 6-3；Retaining mechanism 6-2 setting
It is fixedly connected on angle swing device 6-1, and with the first driving rack 3-3.
More specifically, angle swing device 6-1 include stepper motor and rotating platform with deceleration, it can be achieved that welding gun it is high-precision
Degree rotation or pendular movement.Welding gun angle swing clamping device 6 can be fixedly connected by retaining mechanism 6-2 with the first driving rack 3-3,
Clip 6-3 is connected with rotating platform, for clamping welding gun.
During use, clip 6-3 is first passed through by after welding gun fixation, and starting stepper motor can drive welding gun rotating
It is dynamic.
To guarantee that welding gun can accurately find welding position, guarantee the quality of weld seam, in the present embodiment, on weld holder 10
It is also provided with laser tracking flat pendulum mechanism 4 and laser tracking module 5.Laser tracks flat pendulum mechanism 4 can be to laser tracking module 5
The position adjustment for carrying out the direction x and the direction z, enables laser tracking module 5 to reach optimum position；5 energy of laser tracking module
Enough advanced row data collection and analysis in position that needs are welded, in order to precisely find position while welding, in order to be covered by wheel
Formula walking mechanism 2, welding gun flat pendulum mechanism 3 and welding gun angle swing clamping device 6, the position of Butt welding gun and angle are accurately adjusted,
Guarantee welding quality.
Specifically, in the present embodiment, it includes second straight line motor 4-1, second straight line guide rail that laser, which tracks flat pendulum mechanism 4,
4-2, fourth drive device 4-4, the second transmission gear 4-5 and the second driving rack 4-3；Second straight line motor 4-1 fixed setting
On weld holder 10, second straight line guide rail 4-2 is connect with second straight line motor 4-1；Second transmission gear 4-5 is rotatably arranged on
On two linear guide 4-2；Second transmission gear 4-5 is engaged with the second driving rack 4-3；Fourth drive device 4-4 and second is passed
Moving gear 4-5 connection；
Specifically, that second straight line guide rail 4-2 can be driven to do on weld holder 10 is straight on the direction x by second straight line motor 4-1
Line movement, by the second transmission gear 4-5 being rotatably arranged on second straight line guide rail 4-2, and is slidably arranged in second straight line
The second driving rack 4-3 on guide rail 4-2 is able to drive the laser tracking module 5 being arranged on the second driving rack 4-3 and is z
The lifting in direction, the direction x and the direction z are vertical, into the adjusting that can be realized to the direction x and the direction z of laser tracking module 5,
The walking of formula walking mechanism 2 is covered by taking turns, and realizes the adjustment to the direction y of laser tracking module 5.
More specifically, the direction x is and is adsorbed that surface is parallel, and the direction of travel of formula walking mechanism 2, y are vertically covered with wheel
Direction is the direction of travel that wheel covers formula walking mechanism 2, and the direction z is the direction vertical with surface is adsorbed.
By the setting of 5 flat pendulum mechanism of laser tracking module, it can make to creep welding robot when welding, accurately
Find the position for needing to weld.
In the present embodiment, fourth drive device 4-4 is handle or turntable, by can be by manually adjusting realization laser
The adjusting of 5 height of tracking module.
It should be pointed out that fourth drive device 4-4 can also be motor, it is connected to motor by controller, Jin Ershi
Now to the automatic adjustment of 5 height of laser tracking module, or the long-range control using controller realization to motor, and then realize to sharp
The remote adjustment of 5 height of light tracking module.
More specifically, in the present embodiment, laser tracking module 5 includes camera 5-4, laser sensor 5-3, mounting rack 5-
1 and more optical filter 5-2；Camera 5-4, laser sensor 5-3 and more optical filter 5-2 are arranged on mounting rack 5-1；Installation is fixed
It is arranged on the second driving rack 4-3.
Laser sensor 5-3 and camera 5-4 are rotatably arranged on mounting rack 5-1, can be realized laser sensor 5-3 rotation
Modulation section, and then adjust the viewing angle of laser sensor 5-3 and camera 5-4.
More optical filter 5-2 are combined by a variety of different size optical filters, can effectively filter the interference of the relevant sources such as arc light.
In the present embodiment, by laser sensor 5-3 and camera 5-4, advanced weld seam recognition, tracking and welding are used
Control system, can obtain the geometry and location information of weld seam, therefore can guarantee the quality of welding.Weld joint tracking precision can
Up to ± 0.2mm.Height is within ± 0.5mm, and following range is unrestricted.It, can compared to track welding robot need to be laid with
Significantly reduce welding non-cutting time, high production efficiency.
Preferred embodiment is that wind-proof device 7 is additionally provided on weld holder 10；Wind-proof device 7 include fixed bracket and
Windproof cover 7-1, support bracket fastened one end are connect with weld holder 10, and the other end is connect with radix saposhnikoviae cover 7-1；Fixing bracket includes
Left and right directions slideway 7-3 and front-rear direction slideway 7-11, windproof cover are offered on flexible translation plates 7-4, flexible translation plates 7-4
Up and down direction slideway 7-2 is offered on 7-1, so that radix saposhnikoviae cover 7-1 can be adjusted in three directions, is carried out after adjustment
It is fixed.
In the present invention, windproof cover 7-1 is covered on welding gun, is fixedly connected by fixed bracket with welding robot.When
Welding robot is when carrying out weld job,, can be by anti-when the position of welding gun is adjusted since the technique of welding is different
Fixation bracket realization on fan housing body 7-1 is adjusted the position of windproof cover 7-1, to guarantee the wind-proof performance of welding gun.
In the present embodiment, fixed bracket includes fixed bottom plate 7-5, fixed connecting plate 7-14 and flexible translation plates 7-4, Gu
Determine to be provided with multiple fixation holes on bottom plate 7-5, specially four, fixation hole is passed through by fixing bolt and consolidates fixed bottom plate 7-5
It is scheduled on welding robot.Fixed connecting plate 7-14 is fixedly connected with the side of fixed bottom plate 7-5 or one end, the side being fixedly connected
Formula can be welding, rivet, is bolted, be wholely set, as long as will the fixed fixed company of bottom plate 7-5 and fixed connecting plate 7-14
It is connected together；The other end of fixed connecting plate 7-14 is fixedly connected with flexible translation plates 7-4 by fixing bolt, fixed spiral shell
After front-rear direction slideway 7-11 on the connecting hole 9-2 being each passed through on fixed connecting plate 7-14 and flexible translation plates 7-4 of bolt,
It is tightened by nut, realizes the purpose for being fixed together fixed connecting plate 7-14 and flexible translation plates 7-4.Front-rear direction
The setting of slideway 7-11 allows the link position of fixed connecting plate 7-14 and flexible translation plates 7-4 sliding according to front-rear direction
Road 7-11 is moved and is adjusted, so that radix saposhnikoviae cover 7-1 is capable of fixing on the more appropriate position of front-rear direction.
In the present embodiment, bending is provided on flexible translation plates 7-4, front-rear direction slideway 7-11 setting is in flexible translation
One end of plate 7-4, the other end of bending is additionally provided with left and right directions slideway 7-3 on flexible translation plates 7-4, in windproof cover 7-
Up and down direction slideway 7-2 is provided on 1 to pass through after fixing bolt passes through left and right directions slideway 7-3 and up and down direction slideway 7-2
Nut is tightened, and realizes the purpose for being fixed together flexible translation plates 7-4 and radix saposhnikoviae cover 7-1.Left and right directions slideway 7-3
Setting so that the link position between flexible translation plates 7-4 and windproof cover 7-1, can according to left and right directions slideway 7-3 into
Row is mobile and adjusts, so that radix saposhnikoviae cover 7-1 is capable of fixing on position more appropriate in left and right directions；Up and down direction is sliding
The setting of road 7-2, so that the link position between flexible translation plates 7-4 and windproof cover 7-1, it can be according to up and down direction slideway
7-2 is moved and is adjusted, so that radix saposhnikoviae cover 7-1 is capable of fixing on position more appropriate in above-below direction.
In the present embodiment, it to guarantee the connective stability between flexible translation plates 7-4 and fixed connecting plate 7-14, stretches
Connective stability between translation plates 7-4 and windproof cover 7-1, by front-rear direction slideway 7-11, left and right directions slideway 7-3 and on
Lower direction slideway 7-2 is disposed as at least two, and is symmetrical arranged.
In the present embodiment, it is provided with flexible protective skirt on the bottom edge of windproof cover 7-1, passes through flexible protective skirt
Setting, so that windproof cover 7-1 will not be made to generate rigidity with soldered position and touched when the mobile generation of welding robot is jolted
It hits, has not only protected windproof cover 7-1, but also protect soldered position, the seam between wind-proof device 7 and welding piece can also be filled up
Gap.
Specifically, in the present embodiment, flexible protective skirt is bolted on windproof cover 7-1, it can be soft
Property protection skirt damage after, replacement easy to disassemble.
It should be pointed out that in the present embodiment, flexible protective skirt is fixed for bolt, but it is not limited solely to bolt
It is fixed, it can also be using other fixed forms, such as can also be and fixed using rivet, bonding mode, that is to say, that
As long as flexible protective skirt can be fixed on to the bottom of windproof cover 7-1.
More specifically, in the present embodiment, it is provided with lower press strip 7-13 on flexible protective skirt, will be pushed by bolt
7-13 and flexible protective skirt are each attached to the bottom of windproof cover 7-1, and then can guarantee flexible protective skirt and radix saposhnikoviae
The compactness of the bottom of cover 7-1, and then guarantee the protective capacities to windproof cover 7-1.
In the present embodiment, the material of flexible protective skirt uses high-temperature flexible material or metal swipe.
During the welding process due to welding gun, it can generate and axially or transversally move, windproof cover 7-1 is fixed, therefore,
The link position in windproof cover 7-1 and welding gun is needed, using being flexible coupling, so that the movement of welding gun can not either be influenced, and energy
Enough wind-proof performances for guaranteeing windproof cover 7-1.
To realize above-mentioned function, in the present embodiment, the top of windproof cover 7-1 is provided with flexible protective and binds, and is used for
It is flexible coupling with welding gun.
Specifically, flexible protective binds using flexible high-temperature resistant material, the top of flexible high-temperature resistant material and windproof cover 7-1
The edge at end is fixedly connected by the way of bolt and ceiling molding 7-12, while the middle part aperture bound in small and weak protection,
To pass through welding gun.
More specifically, flexible protective, which binds, is attached with the top of welding gun using clip 6-3 mechanism, i.e., flexible protective seals
Top is wrapped on welding gun, and outside is locked with clip 6-3 mechanism.
For the ease of timely being grasped and understood to the welding situation in windproof cover 7-1, in the present embodiment,
It is provided with observation window on windproof cover 7-1, utilizes situation of the welding gun inside observation window observation wind-proof device 7 in welding.
The transparent window of observation window is high temperature resistant lens, can be guaranteed during the welding process, and transparent window uses the longevity
Life.
Specifically, in the present embodiment, observation window and radix saposhnikoviae cover 7-1 are rotatablely connected.
By the rotation of observation window, the situation in windproof cover 7-1 more can comprehensively be understood and grasped, with
Convenient for unexpected situation is grasped and is handled in time.
More specifically, in the present embodiment, the mode of rotation connection is ball connection.
That is, being provided with hinged sphere 7-8 on observation window, connection observation window is provided on hinged sphere 7-8 and preventing
The observation through-hole of fan housing body 7-1；Mounting flange 7-6 is provided on windproof cover 7-1, hinged sphere 7-8 passes through loose flange 7-7
It is located on mounting flange 7-6.
That is, being provided with mounting flange 7-6 on windproof cover 7-1, hinged sphere 7-8 is arranged in mounting flange 7-
After on 6, recycle loose flange 7-7 that hinged sphere 7-8 is fixed on mounting flange 7-6, so that it can not from two flanges
Between be detached from, and can only be rotated between mounting flange 7-6 and loose flange 7-7.
Observation through-hole is provided on hinged sphere 7-8, the one end for observing through-hole is connected to observation window, the other end and radix saposhnikoviae
The inside of cover 7-1 is connected to, so that the observation window that hinged sphere 7-8 will not influence is to the observation inside windproof cover 7-1.
It should be pointed out that in the present embodiment, the connection type between observation window and windproof cover 7-1 is ball connection,
But it is not limited solely to ball connection, can also be other rotation connection modes, that is to say, that as long as can pass through rotation
Connection, increases the visual field of observation window.
Preferred embodiment is that observation window includes main observation window 7-9 and pair observation window 7-10, main observation window 7-9 and pair
Observation window 7-10 and the radix saposhnikoviae angled setting of cover 7-1.
The situation in windproof cover 7-1 is observed by two observation windows, the visual field of observation can be increased, be conducive to
More fully understand internal state.
One is provided between main observation window 7-9 and windproof cover 7-1, between pair observation window 7-10 and windproof cover 7-1
Fixed angle, can effectively the slag that flies out of welding gun damages the splashing of high temperature resistant lens when reducing welding.
In specific setting angle, preferred angle is 30 ° -60 °, specifically, being 45 °.
In the present invention, windproof cover 7-1 is prepared using heat-resistant light alloy.
Preferred embodiment is that adjustable magnetic suck module 9 includes magnetic body module and lift adjustment module, lift adjustment
Module is connect with magnetic body module, for controlling magnetic body module lifting；Lift adjustment module have it is multiple can independent control lifting
Mechanism, by adjusting the elevating mechanism of multiple independent controls respectively, change magnetic body module and the angle being adsorbed between surface and/
Or gap.
In the present embodiment, by adjustable magnetic suck module 9, creeper is able to achieve in plane and diameter no more than 3
The cambered surface of rice is creeped, and working environment adaptability is good.
Specifically, in the present embodiment, lift adjustment module is arranged on magnetic body module, by lift adjustment module to magnet
The height of module is adjusted, and realization is adjusted magnetic body module and the gap being adsorbed between surface.
Such setting, so that realizing to magnetic body module when being adsorbed surface is cambered surface in the magnetic for being adsorbed surface
The adjusting of power, and then guarantee the stability of magnetic force, further ensure stability of the magnetic force adsorption apparatus in cambered surface.
In the present embodiment, lift adjustment module include at least two can independent control elevating mechanism, by right respectively
Elevating mechanism carries out independent control, different using the adjustable height of each elevating mechanism, to each position of magnetic body module
Height carries out different adjustment, and then realizes the adjusting to magnetic body module and the angle being adsorbed between surface.
Preferred embodiment is that the elevating mechanism of multiple independent controls is specially two, and is respectively arranged on magnetic body module
Two sides.
When in use, the opposite end of magnetic body module is arranged in the idler wheel or crawler belt of walking, and lifting structure is also distinguished
When the opposite end identical with idler wheel or crawler belt of magnetic body module is set, the both ends of magnetic body module are made by elevating mechanism
Height is different, and then realizes that magnetic body module changes with the angle for being adsorbed surface, and then during traveling, can guarantee
In the different gradients or radian, welding robot has enough magnetic force and adsorption capacity.
Preferred embodiment is that lift adjustment module is specifically configured to linear actuating device.
Lift adjustment module can be unified progress lift adjustment, be specifically configured to linear actuating device, can be to magnetic
The height of module carries out continuity adjusting, guarantees that it copes with arbitrary cambered surface and the gradient.
There are many kinds of the set-up modes of linear actuating device, specifically, in the present embodiment, linear actuating device is set as
Turbine and worm mechanism, hydraulic gear, rack and pinion drive mechanism or screw-drive mechanism.
When using turbine and worm mechanism as linear actuating device, by the rotation of turbine, worm screw is driven to do straight line fortune
It is dynamic, it drives magnetic body module to be gone up and down, realizes the adjusting of magnetic body module height.
When using hydraulic gear as linear actuating device, the promotion of hydraulic stem drives magnetic body module to be risen
Drop, realizes the adjusting of the height of magnetic body module.
When using rack and pinion drive mechanism as linear actuating device, rack gear is connect with magnetic body module, and gear turns
Dynamic, band carry-over bar moves in a straight line, and then magnetic body module is driven to be gone up and down, and realizes the adjusting of the height of magnetic body module.
When using screw-drive mechanism as linear actuating device, threaded rod is threadedly coupled with magnetic body module, works as screw thread
When bar is rotated, magnetic body module can the axial direction of threadingly bar move in a straight line, and then magnetic body module is driven to be gone up and down, realized
The adjusting of magnetic body module height.
It should be pointed out that in the present embodiment, linear actuating device is any one or a few of above-mentioned several ways,
It can be combined arbitrarily.
It may also be noted that linear actuating device can be above-mentioned several set-up modes, but it is not limited solely to
Several ways are stated, can also be has other linear modes, such as can also be slider-crank mechanism, that is to say, that only
Can be by the linear lifting of linear actuating device realization magnetic body module.
Specifically, in the present embodiment, elevating mechanism is set as screw thread lifting regulating mechanism, screw thread lifting regulating mechanism packet
Include support frame, lifting screw 9-6 and adjusting nut；Adjusting nut is rotatably arranged on support frame, and with lifting screw 9-6 screw thread
Connection；One end of lifting screw 9-6 is flexibly connected with magnetic body module.
Each elevating mechanism is adjusted using the mode of thread screw, and the lower end of lifting screw 9-6 and magnet mould
Block is flexibly connected, and the mode of flexible connection can be rotation connection, is also possible to universal connection, as long as can be real simultaneously
Now to the adjusting of the height of magnetic body module and angle.
Specifically, in the present embodiment, the both ends of magnetic body module are provided with mounting ear 9-7, it is provided with and turns on mounting ear 9-7
Dynamic hole, the lower end lifting screw 9-6 are rotatably connected to rotation axis 9-8, and the both ends of rotation axis 9-8 are inserted in rotation hole, and with turn
Dynamic hole rotation connection.
In the present embodiment, adjusting nut is rotatably arranged on support frame, cannot be moved axially on the support frame,
Falling off for adjusting nut can either be avoided, and can be guaranteed to play to adjusting nut shaft to fixed effect；Adjusting nut and liter
Drop screw rod 9-6 is threadedly coupled, and by rotating adjusting nut, enables to lifting screw 9-6 to move axially, and then band
One end of the dynamic magnetic body module being flexibly connected with the lower end lifting screw 9-6 rises or falls, to realize one end to magnetic body module
Height adjustment.
When the adjusting direction of magnetic body module opposite end and height all the same, magnetic body module only changes and is adsorbed surface
Gap；When the adjusting direction of magnetic body module opposite end and/or not identical adjusting height, magnetic body module changes and is adsorbed
Angle between surface.
When magnetic body module changes with the gap or angle for being adsorbed surface, change with the adsorption capacity being adsorbed between surface
Become, so that magnetic body module can adapt to different ENVIRONMENTS WITH CURVED SURFACESs, the absorption for guaranteeing magnetic body module and being adsorbed between surface
Power.
Specifically, in the present embodiment, support frame includes groove body 9-4 and cover board 9-3；Adjusting nut is arranged in groove body 9-4
Limiting slot in, cover board 9-3 is fixed on groove body 9-4, for adjusting nut carry out axially position.
More specifically, groove body 9-4 is box like structure, and the through-hole for allowing lifting screw 9-6 to pass through is provided in slot bottom, should
By end be provided with chamfering, in order to the installation of lifting screw 9-6.
Chamfering can be set to fillet or 45 ° × 45 ° chamferings or other types chamfering, as long as being capable of setting by chamfering
It sets, convenient for the installation of lifting screw 9-6.
In the present embodiment, cover board 9-3 and groove body 9-4 is fixedly connected by fixing bolt, can either be convenient for exchanging
The maintenance and replacement of nut are saved, and can guarantee the axially position of adjusting nut.
It should be pointed out that in the present embodiment, the mode that is fixedly connected between cover board 9-3 and groove body 9-4 can be
That states is connected by fixing bolt, but it is not limited solely to a kind of above-mentioned set-up mode, can also be other fixed companies
Mode is connect, such as can also be pin shaft connection, clamping, that is to say, that as long as by cover board 9-3 by way of being detachably connected
It is fixed together with groove body 9-4.
It may also be noted that exist in the present embodiment, it is detachably connected between cover board 9-3 and groove body 9-4, it can also be with
Be arranged to non-dismountable connection, such as can be used welding, riveting mode cover board 9-3 and groove body 9-4 are fixedly connected,
That is, as long as the axially position to adjusting nut can be realized by the way that cover board 9-3 and groove body 9-4 to be fixedly connected
?.
Adjustment hole is provided on cover board 9-3；Lifting screw 9-6 can pass through adjustment hole and stretch out upwards, so that lifting spiral shell
The axial movement distance of bar 9-6 is equal to its screw thread segment length, and then increases the adjustable range of lifting screw 9-6.
It is axially driving convenient for being carried out by adjusting nut to lifting screw 9-6 for the rotation convenient for adjusting nut, in this reality
It applies in example, adjusting nut is provided with driving handle 9-1 far from one end of magnetic body module；One end of driving handle 9-1 and adjusting nut are solid
Fixed connection, the other end pass through cover board 9-3 by adjustment hole.
Such setting enables driving handle 9-1 to expose outside, and then driving can be realized in the outside of support frame
Adjusting nut rotation, so by the rotation of adjusting nut, drive lifting screw 9-6 to move axially, it is final to realize to magnetic
The adjusting of the height of module.
In the present embodiment, driving handle 9-1 is coaxially fixedly installed with adjusting nut.
It is coaxially fixedly installed it should be pointed out that driving handle 9-1 can be with adjusting nut, is also possible to setting and is adjusting
Any position of side of the nut far from magnetic body module is saved, as long as adjusting nut can be driven to be turned by driving handle 9-1
It is dynamic.
In the present embodiment, the through-hole for allowing lifting screw 9-6 to pass through is provided on driving handle 9-1, specifically, the through-hole
For threaded hole, lifting screw 9-6 passes through the threaded hole and is threadedly coupled with driving handle 9-1.Pass through the threaded hole on driving handle 9-1
Setting, increases the length being threadedly engaged on lifting screw 9-6, and then increase the threaded connection intensity of lifting screw 9-6.
It should be pointed out that in the present embodiment, the through-hole being arranged on driving handle 9-1 is threaded hole, but its not only office
It is limited to threaded hole, can also be and be set as straight hole, as long as lifting screw 9-6 can be made to pass through, lifting screw can be increased
The axis moving distance of 9-6.
In the present embodiment, the mode that is fixedly connected between driving handle 9-1 and adjusting nut is integrated setting.
It should be pointed out that the mode that is fixedly connected between driving handle 9-1 and adjusting nut can be as in the present embodiment
Be wholely set, but it is not limited solely to a kind of this set-up mode, can also be that others are fixedly connected with mode, such as may be used also
To be welding, riveting, threaded connection etc., that is to say, that as long as driving handle 9-1 can be fixedly connected with adjusting nut,
Driving nut can be driven to be rotated by driving handle 9-1, and then realize that driving lifting screw 9-6 carries out axial displacement and is
It can.
In the present embodiment, specifically, being provided with support baseboard 9-5 on support frame, for being connect with welding mechanism.
Multiple connecting hole 9-2 are provided on support baseboard 9-5, passing through connecting hole 9-2 realization by installation bolt will be adjustable
The main welding mechanism of formula magnetic force adsorption apparatus and welding robot is fixedly connected, and welding mechanism is adsorbed on by realization to be inhaled
The purpose in subordinate list face, can be realized the weld job of welding mechanism.
Specifically, in the present embodiment, support baseboard 9-5 is arranged on the outside side wall of groove body 9-4, multiple elevating mechanisms
In support baseboard 9-5 be arranged at the same side, to guarantee and the connection and installation of welding mechanism.
It should be pointed out that the position and direction of support baseboard 9-5, it can be according to the shape and link position of welding mechanism
It is adjusted, welding mechanism and elevating mechanism links together as long as can be realized by support baseboard 9-5.
In the present embodiment, magnetic body module includes cavity 9-9 and magnet；Magnet is arranged in cavity 9-9.
Specifically, magnet in the present embodiment is high temperature resistant neodymium iron boron, set-up mode of the magnet in cavity 9-9 be the pole N,
The extremely opposite installation of S, the material of cavity 9-9 is aluminum, can effectively transmit magnetic force, and the chamber lid 9-10 above cavity 9-9 is good
The mild steel of good magnetic conductivity.
Such set-up mode, can be to the strong magnetic force of bottom output, and top and each side magnetic force are extremely weak.
Preferred embodiment is to creep to be additionally provided with attitude transducer 8 on locomotive frame 1.
Be provided in sheet, posture obtains module and is mounted on car body connecting plate 1-1, can real-time monitoring creep welding robot
Human body posture, and feedback signal, to controller, controller feedback signal covers formula walking mechanism 2 to wheel, realizes its posture tune
It is whole.
From the above, it is seen that rail-free provided by the invention, the welding robot of creeping without guiding, by taking turns shoe formula row
Mechanism is walked, control creeps welding robot in large and medium-sized plane or cambered surface welding structural element apparent motion, can vertically climb wall；It creeps
Welding robot can be carried out weld job in the movement of forward or backward, in welding robot advance welding process of creeping
In, the CCD camera 5-4 in the laser tracking module 5 of front is responsible for recognition and tracking, the camera in subsequent laser tracking module 5
5-4 is responsible for the weld seam after butt welding is taken over and is detected, and observes the forming width and bottoming height of weld seam.In the welding process,
The forming width and bottoming height of one weld seam are stored, these data are carried out after the completion of welding to be averaged place
Reason, average have positive directive significance to the technological parameter of capping.
As shown in figure 11, laser tracking module 5 carries out tracking weld seam principle are as follows:
Industrial personal computer is transferred to by the picture signal that laser sensor 5-3 is detected, image processing software will be calculated
Weld information data are sent to tracking control unit, tracking control unit issue instruction through welding gun flat pendulum mechanism controls make welding gun laterally with
The movement of track weld seam, and indicate that formula walking mechanism is covered through wheel makes welding gun track dry deep length variation；Image processing software will be counted simultaneously
The weld information data obtained are sent to the master controller for welding robot of creeping, and master controller changes according to weld groove to be believed
Breath is transferred to source of welding current controller, to adjust the technological parameter of the source of welding current in real time；Position is provided in welding gun flat pendulum mechanism
Displacement sensor, the displacement signal that displacement sensor generates are combined with the vehicle body attitude signal that body gesture sensor 8 generates, and are passed through
Tracking control unit calculation process is crossed, the master controller for welding robot of creeping is defeated by, instructs the driving dress for welding robot of creeping
It sets and the welding robot that makes to creep keeps parallel with weld seam, to carry out the plane or cambered surface weld job of all positon；It climbs simultaneously
Row welding robot is equipped with wind-proof device 7, is able to satisfy wind speed no more than the gas metal-arc welding under the conditions of 10m/s.
A kind of control method for welding robot of creeping, which comprises the steps of:
S1. adjustable magnetic suck module is controlled, makes to creep welding robot and the adsorption capacity that is adsorbed between surface keeps steady
It is fixed；
S2. weld information is obtained；
S3. the translation of control welding gun reaches position while welding；
S4. control welding gun rotation, reaches process requirements angle；
S5. the technological parameter of the source of welding current is adjusted；
S6. starting welding, control climbing robot are independently creeped along weld seam trend automatically；
S7. welding is completed.
More specifically steps are as follows:
1. measuring position coordinates, confidence level and the picture signal of weld information with laser sensor 5-3；
2. above-mentioned weld information is transferred to tracking control unit and source of welding current controller through signal processing by industrial personal computer；
3. tracking control unit sends instructions according to weld information；
4., through welding gun flat pendulum mechanism 3 and welding gun angle swing clamping device 6, welding gun is made to realize tracking weld seam according to this instruction
It moves and keeps dry deep length；
5. welding gun is moved through welding gun flat pendulum mechanism 3 and welding gun angle swing clamping device 6, welding gun displacement letter is issued
Number；
6. creeping welding robot when moving, the attitude transducer 8 on vehicle body issues a body gesture signal；
7. combining step 1, step 5, the input data of step 6, tracking control unit carries out calculation process；
8. tracking control unit will it is processed after data be sent to the master controller of welding robot of creeping；
9. the master controller for welding robot of creeping issues instruction by calculating, respectively driven through two servo motor 2-6
Two driving wheel 2-1 carry out different speed rotations, and then make welding robot progress divertical motion of creeping；
10. the master controller for welding robot of creeping after the calculating of picture position signal, covers formula walking through wheel based on the received
Mechanism 2 drives laser tracking module 5 mobile, makes camera 5-4 that can lock weld seam always；
11. source of welding current controller issues instruction according to weld information, to adjust the technological parameter of the source of welding current in real time；
12. host computer swings software according to welding procedure, corresponding welding is set and swings parameter, including is welds types, flat
Pendulum, pendulum, the amplitude of oscillation, slew rate, the control parameter of dead time are sent to tracking control unit after the control parameter is set；
13. tracking control unit swings parameter according to the welding that host computer receives, make welding gun through welding gun angle swing clamping device 6
It realizes and swings；
14. needing the weldering of fine adjustment or manual intervention in the personal control control welding process being connected with tracking control unit
Connect parameter；
15. according to welding procedure corresponding car body control parameter is arranged: including automatic running in upper railcar body control software
The master controller of reference speed, manual travel speed, setting parameter content, welding robot of creeping receives and saves the work of setting
Skill parameter is travelled according to setting value；
The control mode of welding torch position is as follows:
1. welding robot control wheel in a manner of differential of creeping carries out formula walking mechanism traveling, welding robot of creeping is realized
It turns to, it might even be possible to 360 ° of original place autobiography；
2. welding gun flat pendulum mechanism 3, laser tracking flat pendulum mechanism 4 and wheel, which cover formula walking mechanism 2, realizes that the position of welding gun is adjusted,
To realize that the dry deep length of welding gun is adjusted；
3. welding gun angle swing clamping device 6 controls the angle swing for realizing welding gun in a manner of stepper drive (containing speed reducer), to reach
Realize certain welding procedure demands.
Compared with prior art, advantage is the application:
1, the realization of formula walking mechanism 2 is covered by wheel to creep without track, without guiding, it is big to can weld range；Can obviously it subtract
It welds less non-cutting time, high production efficiency；The all-position welding of large and medium-sized structural member can be achieved.
2, magnetic adsorbability size is adjusted by adjustable magnetic suck module, it can be achieved that plate and deep camber arc plate are creeped,
Working environment adaptability is high.
3, by using advanced weld seam recognition, multisensor Data Fusion technology, it can be achieved that reliable weld joint tracking,
Therefore it can guarantee the quality of welding, the reachable ± 0.2mm. height of weld joint tracking precision is within ± 0.5mm, and following range
It is unrestricted.
4, welding robot of creeping is equipped with the wind-proof device 7 of customization, can meet wind speed no more than molten under the conditions of 10m/s
Change pole gas shielded arc welding.
5, the relevant informations such as weld width are obtained by Image Acquisition, feed back the master controller to welding robot of creeping,
Creep welding robot master controller adjust source of welding current controller come realize to welding supply voltage and electric current adjusting, can
Meet the real-time adjusting of welding procedure when weld seam irregularly changes.
Welding robot provided by the invention of creeping covers formula walking mechanism 2 by wheel, realizes without track, without guiding
It creeps, solderable range is big, can vertically climb wall in large and medium-sized plane or cambered surface welding structural element apparent motion, advance
Or retreat movement when can be carried out weld job, and then realize the all-position welding of large and medium-sized structural member, can obviously reduce weldering
Connect non-cutting time, high production efficiency；Magnetic adsorbability size is adjusted by adjustable magnetic suck module 9, it can be achieved that plate and big
Curvature arc plate is creeped, and working environment adaptability is high.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means in the scope of the present invention
Within and form different embodiments.For example, in claims above, embodiment claimed it is any it
One can in any combination mode come using.The information disclosed in the background technology section is intended only to deepen to the present invention
General background technology understanding, and be not construed as recognizing or imply that information composition has been this field skill in any form
The prior art well known to art personnel.
Claims (10)
- The welding robot 1. one kind is creeped, which is characterized in that cover formula walking mechanism including adjustable magnetic suck module, wheel, creep Locomotive frame and weld load device, the weld load device setting are creeped on locomotive frame described；The wheel covers the opposite end that the locomotive frame of creeping is arranged in formula walking mechanism, for providing to the locomotive frame of creeping It creeps power；The adjustable magnetic suck module setting is creeped on locomotive frame described, and is arranged and is covered formula walking mechanism in two wheels Between.
- 2. welding robot according to claim 1 of creeping, which is characterized in that it includes magnetic that the wheel, which covers formula walking mechanism, Seat, roller chain, driving wheel, driven wheel and the first driving mechanism；First driving mechanism is fixed at described creep on locomotive frame；The driving wheel and the driven wheel are rotatably arranged on described creep on locomotive frame；The driving wheel and the driven wheel pass through the roller chain link；The magnetic support is arranged on the roller chain.
- 3. welding robot according to claim 2 of creeping, which is characterized in that be provided with sliding on the locomotive frame of creeping Slot；The driven wheel is slidably arranged in the sliding groove；The second driving mechanism is provided on the side wall of the sliding groove, for driving the driven wheel to move in the sliding groove It is dynamic, realize the tensioning of the roller chain.
- 4. welding robot according to claim 2 of creeping, which is characterized in that first driving mechanism includes servo electricity Machine and corner decelerating motor, the servo motor are connect with the corner decelerating motor, and the servo motor and the corner subtract Speed motor, which is each attached to, creeps on locomotive frame, and the driving wheel is fixed on the flange of the corner decelerating motor, by described Servo motor is able to drive the driving wheel rotation.
- 5. welding robot according to claim 1 of creeping, which is characterized in that the weld load device includes weld holder With welding gun flat pendulum mechanism；The weld holder is fixed at described creep on locomotive frame；The welding flat pendulum mechanism include first straight line motor, first straight line guide rail, third driving device, the first transmission gear and First driving rack；The first straight line motor is fixed on the weld holder, the first straight line guide rail and the first straight line motor Connection；First transmission gear is rotatably arranged on the first straight line guide rail；First transmission gear and described first Driving rack engagement；The third driving device is connect with first transmission gear.
- 6. welding robot according to claim 5 of creeping, which is characterized in that the weld load device further includes welding gun Angle swing clamping device；The welding gun angle swing clamping device includes angle swing device, retaining mechanism and clip；The angle swing device and the clamp connection, for driving the torch swinging being arranged on the clip；The retaining mechanism setting is fixedly connected on the angle swing device, and with first driving rack.
- 7. welding robot according to claim 5 of creeping, which is characterized in that the weld load device further includes laser Track flat pendulum mechanism and laser tracking module；Laser tracking flat pendulum mechanism includes second straight line motor, second straight line guide rail, fourth drive device, the second driving cog Wheel and the second driving rack；The second straight line motor is fixed on the weld holder, the second straight line guide rail and the second straight line motor Connection；Second transmission gear is rotatably arranged in the second linear guide；Second transmission gear and described second Driving rack engagement；The fourth drive device is connect with second transmission gear；The laser tracking module includes camera, laser sensor, mounting rack and more optical filters；The camera, the laser sensor and more optical filters are arranged on the mounting rack；The mounting rack is fixed on second driving rack.
- 8. welding robot according to claim 5 of creeping, which is characterized in that be additionally provided with windproof dress on the weld holder It sets；The wind-proof device includes fixed bracket and windproof cover, and described support bracket fastened one end is connect with the weld holder, separately One end is connect with the windproof cover；The fixed bracket includes flexible translation plates, and left and right directions slideway is offered in the flexible translation plates and front-rear direction is sliding Road, it is described radix saposhnikoviae cover on offer up and down direction slideway so that it is described radix saposhnikoviae cover can be adjusted in three directions, adjust After be fixed.
- 9. welding robot according to claim 1 of creeping, which is characterized in that the adjustable magnetic suck module includes magnetic Module and lift adjustment module, the lift adjustment module is connect with the magnetic body module, for controlling the magnetic body module Lifting；The lift adjustment module have it is multiple can independent control elevating mechanism, by the institute for adjusting multiple independent controls respectively Elevating mechanism is stated, the magnetic body module and the angle being adsorbed between surface and/or gap are changed.
- 10. a kind of control method for welding robot of creeping, which comprises the steps of:S1. adjustable magnetic suck module is controlled, makes to creep welding robot and the adsorption capacity that is adsorbed between surface keeps stablizing；S2. weld information is obtained；S3. the translation of control welding gun reaches position while welding；S4. control welding gun rotation, reaches process requirements angle；S5. the technological parameter of the source of welding current is adjusted；S6. starting welding, control climbing robot are independently creeped along weld seam trend automatically；S7. welding is completed.
Priority Applications (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811496503.7A CN109396700A (en) | 2018-12-07 | 2018-12-07 | It creeps welding robot and its control method |
| JP2019569933A JP6929392B2 (en) | 2018-12-07 | 2019-07-09 | Crawl welding robot and its control method |
| KR1020197034733A KR102304107B1 (en) | 2018-12-07 | 2019-07-09 | Crawling welding robot and its control method |
| US16/631,597 US11786986B2 (en) | 2018-12-07 | 2019-07-09 | Crawling welding robot and method of controlling the same |
| EP19832267.9A EP3685958B1 (en) | 2018-12-07 | 2019-07-09 | Crawling welding robot and control method thereof |
| SG11202000192TA SG11202000192TA (en) | 2018-12-07 | 2019-07-09 | Crawling welding robot and method of controlling the same |
| PCT/CN2019/095300 WO2020113956A1 (en) | 2018-12-07 | 2019-07-09 | Crawling welding robot and control method thereof |
| RU2019145025A RU2754728C1 (en) | 2018-12-07 | 2019-07-09 | Track-type welding robot and method for controlling such robot |
| ZA2019/08575A ZA201908575B (en) | 2018-12-07 | 2019-12-23 | Crawling welding robot and method of controlling the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811496503.7A CN109396700A (en) | 2018-12-07 | 2018-12-07 | It creeps welding robot and its control method |
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| Publication Number | Publication Date |
|---|---|
| CN109396700A true CN109396700A (en) | 2019-03-01 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811496503.7A Pending CN109396700A (en) | 2018-12-07 | 2018-12-07 | It creeps welding robot and its control method |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US11786986B2 (en) |
| EP (1) | EP3685958B1 (en) |
| JP (1) | JP6929392B2 (en) |
| KR (1) | KR102304107B1 (en) |
| CN (1) | CN109396700A (en) |
| RU (1) | RU2754728C1 (en) |
| SG (1) | SG11202000192TA (en) |
| WO (1) | WO2020113956A1 (en) |
| ZA (1) | ZA201908575B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR102304107B1 (en) | 2021-09-23 |
| RU2754728C1 (en) | 2021-09-06 |
| ZA201908575B (en) | 2021-04-28 |
| WO2020113956A1 (en) | 2020-06-11 |
| JP6929392B2 (en) | 2021-09-01 |
| SG11202000192TA (en) | 2020-07-29 |
| EP3685958A1 (en) | 2020-07-29 |
| EP3685958B1 (en) | 2023-11-01 |
| US11786986B2 (en) | 2023-10-17 |
| EP3685958A4 (en) | 2021-08-25 |
| EP3685958C0 (en) | 2023-11-01 |
| US20210291289A1 (en) | 2021-09-23 |
| JP2021511237A (en) | 2021-05-06 |
| KR20200071044A (en) | 2020-06-18 |
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